Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Dynamic average consensus under limited control authority and privacy
requirements
S. S. Kia, J. Cortés, S. Martínez
International Journal of Robust and Nonlinear Control 25 (13) (2015), 1941-1966
Abstract
This paper introduces a novel continuous-time dynamic average
consensus algorithm for networks whose interaction is described by a
strongly connected and weight-balanced directed graph. The proposed
distributed algorithm allows agents to track the average of their
dynamic inputs with some steady-state error whose size can be
controlled using a design parameter. This steady-state error
vanishes for special classes of input signals. We analyze the
asymptotic correctness of the algorithm under time-varying
interaction topologies and characterize the requirements on the
stepsize for discrete-time implementations. We show that our
algorithm naturally preserves the privacy of the local input of each
agent. Building on this analysis, we synthesize an extension of the
algorithm that allows individual agents to control their own rate of
convergence towards agreement and handle saturation bounds on the
driving command. Finally, we show that the proposed extension
additionally preserves the privacy of the transient response of the
agreement states and the final agreement value from internal and
external adversaries. Numerical examples illustrate the results.
pdf   |   ps.gz
Mechanical and Aerospace Engineering,
University of California, San Diego
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Ph: 1-858-822-7930
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cortes at ucsd.edu
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